CN220317291U

CN220317291U - Omnidirectional walking AGV fork truck

Info

Publication number: CN220317291U
Application number: CN202320945140.0U
Authority: CN
Inventors: 夏应文
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2023-04-23
Filing date: 2023-04-23
Publication date: 2024-01-09
Anticipated expiration: 2033-04-23

Abstract

The utility model discloses an omni-directional walking AGV forklift which comprises a forklift body, a front walking driving module, auxiliary wheels and a rear walking driving module, wherein the front walking driving module is arranged in the middle of the bottom of the forklift body, the auxiliary wheels are arranged on two sides of the bottom of the forklift body, and the rear walking driving module is arranged on two sides of the bottom of the forklift body. The AGV fork truck provided by the utility model has the functions of forward, backward and turning, and can realize the functions of left-right translation and 360-degree in-situ rotation, and the tail of the AGV fork truck can translate simultaneously when the traveling driving module drives the head to rotate, so that the AGV does not need a large turning radius when turning. Compared with the prior art, the AGV forklift disclosed by the utility model can walk in a narrow passage, and is simple in structure and convenient to assemble.

Description

Omnidirectional walking AGV fork truck

Technical Field

The utility model relates to the field of industrial robots, in particular to an AGV forklift capable of walking in all directions.

Background

The existing AGV fork truck comprises a truck body, a driving steering wheel mechanism, universal auxiliary wheels on two sides, rear fixed wheels and the like, and due to the limitation of rigid conditions of the mechanism, the AGV fork truck can only realize the functions of advancing, retreating and turning when walking, occupies a larger space, and is not suitable for walking in a narrow space. But modern warehouse trade increasingly pursues intensive storage, and the AGV fork truck that has simple structure, has the omnidirectional movement function of necessarily design not only can carry in narrow and small space, and it is more convenient when putting the goods.

Disclosure of Invention

The utility model aims to solve the problems that the existing AGV forklift is single in traveling direction and not suitable for traveling in a narrow space, and provides an AGV forklift capable of traveling in all directions.

In order to achieve the above object, the present utility model adopts the following technical scheme:

the utility model provides an AGV fork truck of qxcomm technology walking, includes fork truck main part, preceding walking drive module, auxiliary wheel and back walking drive module, and wherein, preceding walking drive module locates the centre of fork truck main part's locomotive bottom, and the auxiliary wheel sets up in the both sides of fork truck main part's locomotive bottom, and the bottom both sides of fork truck main part's tail are located to back walking drive module.

According to the utility model, the front side and the rear side of the forklift body are both provided with the walking driving modules, and the movement of the front side and the rear side of the forklift body is controlled by the two independent walking driving modules, so that the functions of left-right translation and 360-degree in-situ rotation can be realized besides the functions of forward movement, backward movement and turning, and when the walking driving modules drive the locomotive to rotate, the tail of the forklift can translate simultaneously, so that a large turning radius is not needed when the AGV turns. Compared with the prior art, the AGV forklift disclosed by the utility model can walk in a narrow passage, and is simple in structure and convenient to assemble.

Further, a first sensor for detecting an obstacle is arranged in the middle of the vehicle head, and second sensors for detecting the obstacle are arranged on two sides of the vehicle head. In this scheme, the middle part of locomotive and both sides all assemble the sensor and can have realized a 270 degrees safe surrounding rings to the AGV body in security performance.

Further, the sensing head of the first sensor located at the upper side of the vehicle head is disposed obliquely downward so as to clearly sense obstacles in front and on the ground.

Further, a navigation sensor is arranged at the top of the headstock and used for providing navigation signals for the AGV forklift.

Further, a fork frame of the forklift body is provided with a detection device for detecting goods.

Further, a stay wire encoder for detecting the height of the goods is arranged on the fork frame of the forklift body. The encoder of acting as go-between of this scheme can carry out an effectual detection to the height that AGV fork truck fork promoted.

Further, the rear walking driving module is a small walking driving unit.

Further, an anti-collision adhesive tape is arranged on the outer wall of the lower side of the vehicle body.

Further, the upper end of the head is longitudinally equipped with a mounting bracket for mounting the sensor. The scheme increases the installation heights of the navigation sensor and the first sensor, is favorable for expanding respective detection ranges and improves the efficiency.

Drawings

FIG. 1 is a schematic view of the structure of an AGV fork truck 1;

FIG. 2 is a schematic structural view of an AGV fork truck 2;

FIG. 3 is a schematic structural view of an AGV fork truck 3;

fig. 4 is a schematic view of the structure of an AGV fork truck 4.

Description of the reference numerals:

the forklift comprises a forklift body 1, a fork frame 13, a forklift head 11, a forklift tail 12, an anti-collision rubber strip 14, a mounting frame 15, a front walking driving module 2, auxiliary wheels 3, a rear walking driving module 4, a first sensor 5, a second sensor 6, a navigation sensor 7, a detection device 8 and a stay wire encoder 9.

Detailed Description

The following further describes the technical scheme of the utility model according to the attached drawings:

as shown in fig. 1-4, the utility model discloses an omnidirectionally walking AGV forklift, which comprises a forklift body 1, a front walking driving module 2, auxiliary wheels 3 and a rear walking driving module 4, wherein the front walking driving module 2 is arranged in the middle of the bottom of a headstock 11 of the forklift body 1, the auxiliary wheels 3 are arranged on two sides of the bottom of the headstock 11 of the forklift body 1, and the rear walking driving module 4 is arranged on two sides of the bottom of a tail 12 of the forklift body 1.

According to a further optimization of the above scheme, the middle part of the headstock 11 is provided with a first sensor 5 for detecting obstacles, both sides are provided with a second sensor 6 for detecting obstacles, and the safety enclosure of 270 degrees can be realized for the AGV body on the safety performance due to the fact that the sensors are assembled on the middle part and both sides of the headstock 11.

According to a further refinement of the above-described solution, the sensor head of the first sensor 5 located on the upper side of the head 11 is arranged obliquely downwards in order to clearly sense obstacles in front and on the ground.

According to a further refinement of the above solution, the above first sensor 5 is a laser sensor.

According to a further optimization of the solution, the top of the head 11 is provided with a navigation sensor 7 for providing navigation signals for the AGV fork truck.

According to a further refinement of the solution, the fork 13 of the fork truck body 1 is provided with a detection device 8 for detecting the condition of the load.

According to a further refinement of the above scheme, the detection device 8 may be an existing in-place detection device, such as a contact sensor, a laser sensor.

According to a further optimization of the above scheme, the fork frame 13 of the forklift body 1 is provided with a stay wire encoder 9 for detecting the height of goods.

According to a further optimization of the solution, the rear travel drive module 4 is a small travel drive unit.

According to a further refinement of the solution, the outer wall of the underside of the vehicle body is provided with a strip of anti-collision glue 14.

According to further optimization of the scheme, the installation frame 15 is longitudinally arranged at the upper end of the headstock 11, and the navigation sensor 7 and the first sensor 5 at the upper side of the headstock 11 are arranged on the installation frame 15, so that the installation heights of the navigation sensor 7 and the first sensor 5 are increased, the respective detection range is enlarged, and the efficiency is improved.

In the utility model, the front side and the rear side of the forklift body 1 are both provided with the walking driving modules, and the walking of the front side and the rear side of the forklift body 1 is controlled by the two independent walking driving modules, so that the functions of left-right translation and 360-degree in-situ rotation can be realized besides the functions of forward movement, backward movement and turning, and the tail 12 can translate simultaneously when the walking driving modules drive the headstock 11 to rotate, so that a large turning radius is not needed when an AGV turns. Compared with the prior art, the AGV forklift disclosed by the utility model can walk in a narrow passage, and is simple in structure and convenient to assemble.

Variations and modifications to the above would be obvious to persons skilled in the art to which the utility model pertains from the foregoing description and teachings. Therefore, the utility model is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the utility model should be also included in the scope of the claims of the utility model. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present utility model in any way.

Claims

1. An omnidirectionally walking AGV forklift comprising:

a forklift body (1),

the front walking driving module (2) is arranged in the middle of the bottom of the headstock (11) of the forklift body;

auxiliary wheels (3) are arranged at two sides of the bottom of the headstock (11) of the forklift body (1);

the rear walking driving module (4) is provided with two groups which are respectively positioned at two sides of the bottom of the tail (12) of the forklift body (1).

2. The AGV fork truck of claim 1, wherein: the middle part of locomotive (11) is equipped with first sensor (5) that are used for detecting the barrier, and both sides are equipped with second sensor (6) that are used for detecting the barrier.

3. The AGV fork truck of claim 2, wherein: the first sensors (5) are arranged at two positions, which are respectively positioned at the upper side and the lower side of the vehicle head (11).

4. The AGV fork truck of claim 3, wherein: the sensor head of the first sensor (5) positioned on the upper side of the vehicle head (11) is arranged obliquely downwards.

5. The AGV fork truck of claim 1, wherein: the top of the headstock (11) is provided with a navigation sensor (7).

6. The AGV fork truck of claim 1, wherein: a fork frame (13) of the forklift body (1) is provided with a detection device (8) for detecting goods.

7. The AGV fork truck of claim 1 or 6, wherein: a fork frame (13) of the forklift body (1) is provided with a stay wire encoder (9) for detecting the height of goods.

8. The AGV fork truck of claim 1, wherein: the rear walking driving module (4) is a small walking driving unit.

9. The AGV fork truck of claim 1, wherein: an anti-collision adhesive tape (14) is arranged on the outer wall of the lower side of the vehicle head (11).

10. The AGV fork truck of claim 3 or 5, wherein: the upper end of the head is longitudinally fitted with a mounting bracket (15) for mounting the sensor.